[jsk_fetch_startup] Use :before-func to delete description and image

jsk-ros-pkg · Oct 20, 2022 · 1e4ddad · 1e4ddad
1 parent 85d1c0a
commit 1e4ddad
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l
@@ -29,7 +29,11 @@
                                      (success-go-to-kitchen . nil)
                                      (success-go-to-trashcan . nil)
                                      (success-auto-dock . nil))
-                              :hz 2.0)))
+                              :hz 2.0
+                              :before-hook-func
+                              '(lambda ()
+                                (set-alist 'description "" mydata)
+                                (set-alist 'image "" mydata)))))
     (send result-state :name)))
 
 

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -768,8 +768,6 @@ Args:
             (:report-light-on
               '(lambda (userdata)
                 (report-light-on)
-                (set-alist 'description "" userdata)
-                (set-alist 'image "" userdata)
                  t))
             (:room-light-on
               '(lambda (userdata)